#ifndef _GETAMMO_H
#define _GETAMMO_H
#include "global.h"

using namespace std;
typedef pcl::PointXYZ PointT;

extern char mode;
extern pcl::PassThrough<PointT> pass_getAmmo;                         //直通滤波对象
extern pcl::VoxelGrid<PointT> sor_getAmmo;

extern pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
extern std::vector<pcl::PointIndices> cluster_indices;
extern pcl::MomentOfInertiaEstimation <PointT> feature_extractor;

extern pcl::search::Search<pcl::PointXYZ>::Ptr tree_getAmmo;
extern pcl::PointCloud <pcl::Normal>::Ptr normals;
extern pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimator;

extern pcl::PointCloud<PointT>::Ptr cloud_filtered_getAmmo;
extern pcl::PointCloud<PointT>::Ptr cloud_viewer;
extern pcl::PointCloud<PointT>::Ptr all_cloud_cluster;
extern pcl::PointCloud<PointT>::Ptr cloud_filtered;
extern pcl::console::TicToc tt;
// extern pcl::visualization::CloudViewer viewer;

extern short x,angle, z;
extern char send_data[8];

void getammo_run();

#endif     
